TY - GEN
T1 - Development of high mobility in-pipe inspection robot
AU - Jeon, Woongsun
AU - Park, Jungwan
AU - Kim, Inho
AU - Kang, Yoon Koo
AU - Yang, Hyunseok
PY - 2011
Y1 - 2011
N2 - In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robot compact and adaptable to pipe diameter change from 205mm to 305mm. We also analyzed steering locomotion of the robot and propose a simple strategy for navigating in a T-branch pipe. The mechanisms and strategy are demonstrated by experiment.
AB - In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robot compact and adaptable to pipe diameter change from 205mm to 305mm. We also analyzed steering locomotion of the robot and propose a simple strategy for navigating in a T-branch pipe. The mechanisms and strategy are demonstrated by experiment.
UR - http://www.scopus.com/inward/record.url?scp=84863171585&partnerID=8YFLogxK
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U2 - 10.1109/SII.2011.6147496
DO - 10.1109/SII.2011.6147496
M3 - Conference contribution
AN - SCOPUS:84863171585
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 479
EP - 484
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -